CTDE is a combination of independent and centralized MARL [1]}, [2]}, [3]}, [4]}, [5]}, [6]}. This paradigm allows additional information to be used in training provided that execution is still decentralized. This enhancement can help to alleviate the issues of credit assignment and non-stationarity as we no longer need to rely only on local observations and rewards during training. Decentralized execution also ensures that we deal with the curse of dimensionality as agents still make their decisions independently based on relevant local information.
